Parameters Estimation and Higher-Order Sliding Mode Control Design for Coaxial Octorotors: Hardware-in-the-Loop Validation

This paper addresses the challenge of parameter estimation and controller design for a newly constructed COUAV. Initially, an experimental test, namely the gravitational and torsional pendulum method, is conducted to estimate the moment of inertia. The torque and thrust factors are determined by ftting a model to the data obtained from the motors used in the COUAV. Subsequently, a Multiple-Input-Multiple-Output (MIMO) higher-order SMC is developed to enable precise tracking performance regarding coupled states. Ultimately, Hardware-In-the-Loop (HIL) simulation is utilized to evaluate the proposed controller’s effectiveness.